The total computation time (for 20 iterations) of the two methods scales similarly to that of a single iteration shown in Table REF . The time comparison is demonstrated in Fig. REF . It is clear that the proposed method has a great advantage compared with [1]}: The computation time of the proposed method scales linearly with the number of adjustable waypoints, whereas the compared method in [1]} scales exponentially (the computation time of [1]} is more than 17 times of that of compared method in the case of ten adjustable waypoints).
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